rrbot_hw_interface.h
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34 
35 /* Author: Dave Coleman
36  Desc: Example ros_control hardware interface blank template for the RRBot
37  For a more detailed simulation example, see sim_hw_interface.h
38 */
39 
40 #ifndef RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
41 #define RRBOT_CONTROL__RRBOT_HW_INTERFACE_H
42 
44 
45 namespace rrbot_control
46 {
47 
50 {
51 public:
56  RRBotHWInterface(ros::NodeHandle& nh, urdf::Model* urdf_model = NULL);
57 
59  virtual void read(ros::Duration &elapsed_time);
60 
62  virtual void write(ros::Duration &elapsed_time);
63 
65  virtual void enforceLimits(ros::Duration &period);
66 
67 }; // class
68 
69 } // namespace
70 
71 #endif
virtual void read(ros::Duration &elapsed_time)
Read the state from the robot hardware.
RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
Constructor.
virtual void write(ros::Duration &elapsed_time)
Write the command to the robot hardware.
Hardware interface for a robot.
virtual void enforceLimits(ros::Duration &period)


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Thu Feb 25 2021 03:58:54